Wall surface self-adaptive adjusting system applied to wall-climbing robot

Abstract

The utility model provides a wall surface self-adaptive adjusting system applied to a wall-climbing robot, which comprises the wall-climbing robot, the wall-climbing robot is supported on the top of the surface of a dam body, and the wall-climbing robot is fixedly provided with a vacuum adsorption device for generating a vacuum adsorption effect. The tail of the wall-climbing robot is connected with a cleaning operation device used for cleaning the surface of the dam body, and the top of the wall-climbing robot and the top of the cleaning operation device are provided with angle adjusting devices used for angle adjustment. According to the self-adaptive adjusting system and technology which are suitable for different working conditions of the dam concrete surface and can be automatically adjusted, the robot can automatically adjust the adsorption force and the posture adjusting mechanism according to the real-time surface condition and gradient condition, it is ensured that the rolling sealing device is consistent with the wall face angle, and therefore vacuum adsorption is generated.

Description

Technical Field

[0001] The utility model relates to the technical field of robot application, in particular to a wall self-adaptive system for a robot walking and protecting on a dam concrete surface. Background Art

[0002] The concrete structures of hydraulic projects, such as dams, are heterogeneous and porous. Under the influence of reservoir head, a relatively constant yet constantly moving seepage field forms within the dam body. Dynamic water-vapor exchange occurs between the upstream and downstream sides of the dam concrete, as well as between the interior and exterior spaces. This porous and humid environment provides a natural breeding ground for microorganisms, making the dam surface susceptible to the accumulation of dust, dirt, fungi, and other substances. Although protective materials were applied to the concrete surface during dam construction, these early concrete surface protective materials primarily served to seal the concrete surface, preventing CO2 from eroding and diffusing into the concrete and preventing surface carbonization. Therefore, regular protective treatment of the dam concrete surface is necessary during operation to enhance its durability.

[0003] The application of protective materials to the concrete surface of dam structures mainly relies on manual labor. Currently, there are two main methods of operation: (1) manual high-altitude operation with rope suspension and (2) scaffolding operation. However, due to the large scope and steep slope of the dam working surface, as well as the existence of vertical or negative angle working surfaces, it is difficult for manual labor to gain a foothold during operation. This increases the difficulty and workload of the dam surface protection construction.

[0004] With the advancement of robotics, the use of wall-climbing robots for concrete surface cleaning and coating has become feasible, improving safety, reducing labor intensity, increasing efficiency, and lowering costs. However, due to the varying slopes of the dam surface, structural obstacles such as cracks, pits, and remnant rebar, coupled with the effects of gravity, wall-climbing robots struggle to maintain a good contact with the wall, creating the conditions for a vacuum. This presents significant challenges for the development of robots for dam surface walking and protection. Currently, conventional wall-climbing robots are unable to achieve initial adhesion to surfaces with large slope variations and numerous structural obstacles. There is an urgent need for breakthroughs in the robot's adaptive wall adjustment system and technology to provide reliable technical support for intelligent cleaning and coating of dam surfaces. Utility Model Content

[0005] The dam surface has complex morphology and large angle variations, and there are structural obstacles such as cracks, pits, and remnants of building steel bars on the surface. In order to ensure that the robot can complete the initial adsorption during the cleaning and painting operations on the dam surface, the utility model provides a wall surface adaptive adjustment system for a wall-climbing robot. The main purpose of the utility model is to overcome the above-mentioned problems existing on the dam concrete surface, and to provide an adaptive adjustment system and technology that can adapt to different working conditions of the dam concrete surface and can automatically adjust. The system can enable the robot to automatically adjust the adsorption force and posture adjustment mechanism according to the real-time surface conditions and slope conditions, ensuring that the rolling sealing device is consistent with the wall angle, thereby generating vacuum adsorption.

[0006] In order to achieve the above-mentioned technical features, the purpose of the utility model is achieved as follows: a wall adaptive adjustment system applied to a wall-climbing robot, comprising a wall-climbing robot, the wall-climbing robot is supported on the top of the dam surface, a vacuum adsorption device for generating a vacuum adsorption effect is fixedly installed on the wall-climbing robot, a cleaning operation device for cleaning the dam surface is connected to the tail of the wall-climbing robot, and an angle adjustment device for angle adjustment is installed on the top of the wall-climbing robot and the cleaning operation device.

[0007] The wall-climbing robot includes tracks on the left and right sides. The tracks are adhered to a driving mechanism to form a whole. The driving mechanism is connected to a transmission mechanism for providing power.

[0008] The vacuum adsorption device includes a centrifugal fan fixed on the top of the wall-climbing robot. The centrifugal fan is connected to a sealed chamber located in the middle of the crawler. When working, the sealed chamber is wrapped by the crawler to form a sealed vacuum environment.

[0009] The vacuum adsorption device continuously extracts the air in the sealed cavity through a centrifugal fan, so that the air pressure in the sealed cavity is lower than the external atmospheric pressure. The pressure generated by the pressure difference acts on the wall-climbing robot. The resultant force of the pressure is vertically directed to the surface of the dam, causing the wall-climbing robot to be adsorbed on the surface of the dam.

[0010] The cleaning operation device comprises a cleaning operation head, and the cleaning operation head is connected to the wall-climbing robot through a connecting arm using a flexible connection structure.

[0011] The flexible connection structure enables the cleaning device to adapt to changes in the slope of the dam surface by arranging an adjustment spring between the connection arm and the wall-climbing robot.

[0012] The angle adjustment device includes a load-bearing hinge, the upper part of which is connected to the traction suspension rope, and the lower part is respectively connected to the right side of the connecting cable and the upper part of the electric adjustment push rod, so that the system forms a triangular whole;

[0013] The lower part of the electric adjustment push rod is connected to the wall-climbing robot through a rotating support hinge. The rotating support hinge can make the electric adjustment push rod move in a circle. The left side of the connecting cable is fixed to the connecting arm of the wall-climbing robot through a connecting buckle.

[0014] The utility model has the following beneficial effects:

[0015] 1. In view of the complex surface morphology and large angle changes of the dam, as well as the structural obstacles such as cracks, pits, and remnants of building steel bars on the surface, the utility model provides a robot wall adaptive adjustment system and technology. The system can enable the robot to automatically adjust the adsorption force and posture adjustment mechanism according to the real-time surface conditions and slope conditions, adapt to the forward and backward angle conditions of the overall structure, ensure that the rolling sealing device is consistent with the wall angle, thereby generating vacuum adsorption, and ensuring the robot's operating efficiency and quality on the dam concrete surface.

[0016] 2. The crawlers on both sides of the wall-climbing robot adhere to the drive mechanism to form a whole, thereby obtaining the driving power of the transmission mechanism, so that the wall-climbing robot can complete the walking movement on the surface of the dam.

[0017] 3. The above-mentioned vacuum adsorption device can be used to generate vacuum adsorption, thereby ensuring that the wall-climbing robot can be adsorbed on the surface of the dam.

[0018] 4. The above cleaning device can be used for cleaning operations on the dam surface.

[0019] 5. The above-mentioned flexible connection structure can well adapt to the unevenness of the dam surface.

[0020] 6. Angle adjustment can be achieved through the above-mentioned angle adjustment device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is an axonometric diagram of the overall structure of the system of this utility model.

[0023] Figure 2 This is the main view of the overall system structure.

[0024] Figure 3 A top view of the overall system structure.

[0025] Figure 4 This is the bottom view of the overall system structure.

[0026] Figure 5 Schematic diagram of the forward tilting working condition.

[0027] Figure 6 Schematic diagram of the backward working condition.

[0028] In the figure: angle adjustment device 1, connecting cable 11, connecting buckle 12, load-bearing support hinge 13, electric adjustment push rod 14, rotary support hinge 15, wall-climbing robot 2, crawler track 21, transmission mechanism 22, vacuum adsorption device 3, centrifugal fan 31, sealing chamber 32, cleaning operation device 4, cleaning operation head 41, connecting arm 42, adjustment spring 43, dam surface 5, traction suspension rope 6. DETAILED DESCRIPTION

[0029] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0030] See also Figure 1-6 A wall adaptive adjustment system for a wall-climbing robot includes a wall-climbing robot 2, which is supported on the top of a dam surface 5. A vacuum adsorption device 3 for generating a vacuum adsorption effect is fixedly mounted on the wall-climbing robot 2. A cleaning device 4 for cleaning the dam surface 5 is connected to the tail of the wall-climbing robot 2. An angle adjustment device 1 for angle adjustment is mounted on the top of the wall-climbing robot 2 and the cleaning device 4. By adopting the above-mentioned adaptive adjustment system and technology that can adapt to different working conditions of the dam concrete surface and can automatically adjust, the robot can automatically adjust the adsorption force and posture adjustment mechanism according to the real-time surface conditions and slope conditions, ensuring that the rolling sealing device is consistent with the wall angle, thereby generating vacuum adsorption. In the specific working process, the angle between the wall-climbing robot 2, the cleaning device 4 and the dam surface 5 is achieved by the angle adjustment device 1.

[0031] Furthermore, the wall-climbing robot 2 includes tracks 21 on both sides, which are adhered to a drive mechanism to form an integral unit. The drive mechanism is connected to a transmission mechanism 22 for providing power. The tracks 21 on both sides of the wall-climbing robot 2 are adhered to the drive mechanism to form an integral unit, and the transmission mechanism 22 provides driving power, thereby enabling the wall-climbing robot 2 to complete walking motion on the dam surface 5.

[0032] Furthermore, the vacuum adsorption device 3 includes a centrifugal fan 31 fixed to the top of the wall-climbing robot 2. The centrifugal fan 31 is connected to a sealed chamber 32 located in the middle of the crawler 21. The sealed chamber 32 is wrapped by the crawler 21 to form a sealed vacuum environment during operation. The vacuum adsorption device 3 can be used to generate vacuum adsorption, thereby ensuring that the wall-climbing robot 2 can adhere to the dam surface 5.

[0033] Furthermore, the vacuum adsorption device 3 continuously extracts the air in the sealed chamber 32 through the centrifugal fan 31, so that the air pressure in the sealed chamber 32 is lower than the external atmospheric pressure. The pressure generated by the pressure difference acts on the wall-climbing robot 2, and the resultant force of the pressure is vertically directed to the dam surface 5, so that the wall-climbing robot 2 is adsorbed on the dam surface 5.

[0034] Furthermore, the cleaning operation device 4 includes a cleaning operation head 41, and the cleaning operation head 41 is flexibly connected to the wall-climbing robot 2 via a connecting arm 42. The cleaning operation device 4 can be used for cleaning operations on the dam surface.

[0035] Furthermore, the flexible connection structure allows the cleaning device 4 to adapt to the slope changes of the dam surface 5 by arranging an adjustment spring 43 between the connection arm 42 and the wall-climbing robot 2. The flexible connection structure can well adapt to the unevenness of the dam surface.

[0036] Furthermore, the angle adjustment device 1 includes a load-bearing hinge 13, the upper portion of which is connected to the traction suspension rope 6, and the lower portion is connected to the right side of the connecting cable 11 and the upper portion of the electric adjustment push rod 14, thereby forming a triangular system. The lower portion of the electric adjustment push rod 14 is connected to the wall-climbing robot 2 via a rotating hinge 15, which can cause the electric adjustment push rod 14 to move in a circular motion. The left side of the connecting cable 11 is fixed to the connecting arm 42 of the wall-climbing robot 2 via a connecting buckle. The above-mentioned angle adjustment device 1 can achieve angle adjustment.

[0037] Working process and principle of this utility model:

[0038] like Figures 1-6 As shown, the wall-climbing robot 2 of the present invention needs to be attached to the dam surface 5 when working. When the bottom plane of the wall-climbing robot 2 and the cleaning device 4 contacts the dam surface 5, the vacuum adsorption device 3 starts to work. Figure 5 The forward tilt condition shown and Figure 6 In the backward working condition shown, the bottom planes of the wall-climbing robot 2 and the cleaning operation device 4 cannot adhere to the dam surface 5, and the vacuum adsorption device 3 is ineffective.

[0039] Furthermore, when the bottom plane of the wall-climbing robot 2 and the cleaning operation device 4 is in an attached working condition to the dam surface 5, the transmission mechanism 22 adjusts the operating power according to the working needs, and the tracks 21 on the left and right sides of the wall-climbing robot 2 form a whole by adhering to the driving mechanism, thereby obtaining the driving power of the transmission mechanism 22, so that the wall-climbing robot 2 completes the walking movement on the dam surface 5.

[0040] Furthermore, when the bottom plane of the wall-climbing robot 2 and the cleaning device 4 are in contact with the dam surface 5, the vacuum adsorption device 3 continuously extracts air from the sealed chamber 32 via the centrifugal fan 31, reducing the pressure inside the chamber to less than the external atmospheric pressure. The pressure generated by this pressure difference acts on the wall-climbing robot 2, and the combined force of this pressure is directed perpendicularly to the dam surface, causing the robot 2 to adhere to the wall. The sealed chamber is located in the middle of the crawler track 21 and is wrapped by the crawler track 21 during operation, forming a sealed vacuum environment.

[0041] Furthermore, the cleaning head 41 of the cleaning device 4 is flexibly connected to the wall-climbing robot 2 via a connecting arm 42. When the wall-climbing robot 2 moves on the dam surface 5, it drives the cleaning device 4 as a whole, thus completing the cleaning device's movement. The connecting arm 42 and the wall-climbing robot 2 are flexibly connected, and an adjustment spring 43 is arranged between the connecting arm 42 and the wall-climbing robot 2, allowing the cleaning device 4 to further adapt to changes in the slope of the dam surface 5.

[0042] Furthermore, the angle adjustment device 1 is connected to the traction suspension rope 6 at its upper portion via a load-bearing hinge 13, and to the right side of the connecting cable 11 and the upper portion of the electric adjustment push rod 14 at its lower portion, forming a triangular structure. The lower portion of the electric adjustment push rod 14 is connected to the wall-climbing robot 2 via a rotating hinge 15, which allows for circular motion of the electric adjustment push rod 14. The left side of the connecting cable 11 is secured to the connecting arm 42 of the wall-climbing robot 2 via a connecting clip, thus forming an integrated load-bearing structure for the angle adjustment device 1, the wall-climbing robot 2, the cleaning device 4, and the connecting cable 11.

[0043] Furthermore, the electric adjustment push rod 14 can electrically extend its own length. Figure 5 In the forward tilting condition shown, the front end of the cleaning operation device 4 is in contact with the dam surface 5, the connecting cable 11 is fixed, and the system increases the length of the electric adjustment push rod 14, so that the rear end of the wall-climbing robot 2 gradually approaches the dam surface 5, and finally the bottom plane of the wall-climbing robot 2 and the cleaning operation device 4 is attached to the dam surface 5.

[0044] Furthermore, the electric adjustment push rod 14 can electrically reduce its own length. Figure 6 In the backward working condition shown, the rear end of the wall-climbing robot 2 is in contact with the dam surface 5, the connecting cable 11 is fixed, and the system reduces the length of the electric adjustment push rod 14, so that the front end of the wall-climbing robot 2 gradually moves closer to the dam surface 5, and finally the bottom plane of the wall-climbing robot 2 and the cleaning operation device 4 is attached to the dam surface 5.

Claims

1. A wall adaptive adjustment system for a wall-climbing robot, characterized in that: The invention comprises a wall-climbing robot (2), the wall-climbing robot (2) being supported on the top of a dam body surface (5), a vacuum adsorption device (3) for generating a vacuum adsorption effect being fixedly mounted on the wall-climbing robot (2), a cleaning operation device (4) for cleaning the dam body surface (5) being connected to the tail of the wall-climbing robot (2), and an angle adjustment device (1) for angle adjustment being mounted on the top of the wall-climbing robot (2) and the cleaning operation device (4).

2. The wall surface adaptive adjustment system for a wall-climbing robot according to claim 1, characterized in that: The wall-climbing robot (2) comprises tracks (21) located on the left and right sides, the tracks (21) being adhered to a driving mechanism to form a whole, and the driving mechanism being connected to a transmission mechanism (22) for providing power.

3. The wall surface adaptive adjustment system for a wall-climbing robot according to claim 2, characterized in that: The vacuum adsorption device (3) includes a centrifugal fan (31) fixed on the top of the wall-climbing robot (2), the centrifugal fan (31) is connected to a sealed chamber (32), and the sealed chamber (32) is located in the middle of the crawler (21). When working, the sealed chamber (32) is wrapped by the crawler (21) to form a sealed vacuum environment.

4. The wall surface adaptive adjustment system for a wall-climbing robot according to claim 3, characterized in that: The vacuum adsorption device (3) continuously extracts the air in the sealed chamber (32) through the centrifugal fan (31), so that the air pressure in the sealed chamber (32) is lower than the external atmospheric pressure. The pressure generated by the pressure difference acts on the wall-climbing robot (2), and the resultant force of the pressure is perpendicular to the dam surface (5), so that the wall-climbing robot (2) is adsorbed on the dam surface (5).

5. The wall surface adaptive adjustment system for a wall-climbing robot according to claim 2, characterized in that: The cleaning operation device (4) comprises a cleaning operation head (41), and a flexible connection structure is adopted between the cleaning operation head (41) and the wall-climbing robot (2) via a connecting arm (42).

6. The wall surface adaptive adjustment system for a wall-climbing robot according to claim 5, characterized in that: The flexible connection structure enables the cleaning device (4) to adapt to changes in the slope of the dam surface (5) by arranging an adjustment spring (43) between the connection arm (42) and the wall-climbing robot (2).

7. The wall surface adaptive adjustment system for a wall-climbing robot according to claim 5, characterized in that: The angle adjustment device (1) includes a load-bearing hinge (13), the upper portion of which is connected to the traction suspension rope (6), and the lower portion of which is respectively connected to the right side of the connecting cable (11) and the upper portion of the electric adjustment push rod (14), so that the system forms a triangular whole; The lower portion of the electric adjustment push rod (14) is connected to the wall-climbing robot (2) via a rotary support hinge (15). The rotary support hinge (15) enables the electric adjustment push rod (14) to move in a circular motion. The left side of the connecting cable (11) is fixed to the connecting arm (42) of the wall-climbing robot (2) via a connecting buckle.

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